Check out this video.  It may not look like much, but it's pretty amazing. 
What you're looking at is a model showing all of the asteroids discovered from 1980-2010 as they're discovered.  The red ones are 'Earth-crossers'.  They're the ones to be scared of.  But take heart: We don't live on a 2D plane, so they can always go above or below us :)
 
 
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